% this file defines costants for each state to:
% - provide easy access
% - define the state vector

SX = 1; % x position of geometric center (inertial reference frame)
SY = 2; % y-position of geometric center (inertial reference frame)
STH = 3; % robot angle (between e and a)
SDX = 4; % x-velocity of the robot (inertial reference frame)
SDY = 5; % y-velocity of the robot (inertial reference frame)
SDTH = 6; % robot angular velocity

% these are basic states for each module
% to access the state SPHI for module i, the state is: SPHI + modS*i

SPHI = 7; % angle of module i
SDPHI = 8; % angular velocity of module i
SI = 9; % current in the drive motor
SG = 10; % current in the turn motor

% SPHI_mod2 = 11; % for module 2. thus, add 4 for each additional module
modS = 4; % number of module states for each module (see above)
